path: root/gm_platform/fw/tw_test.c

#include <errno.h>
#include <sys/ioctl.h>
#include <asm/termbits.h>
#include <fcntl.h> 
#include <stdbool.h> 
#include <stdlib.h> 
#include <stdio.h> 
#include <string.h>
#include <unistd.h>
#include <stdint.h>
#include <dirent.h>
#include <sys/types.h>
#include <assert.h>
#include <sys/epoll.h> 
#include <time.h>

#include <sqlite3.h>

#include <zlib.h>

int set_interface_attribs (int fd, int baudrate) {
    struct termios2 tio;
    memset (&tio, 0, sizeof(tio));
    if (ioctl (fd, TCGETS2, &tio) != 0) {
        fprintf(stderr, "Could not request termios for given port\n");
        return -1;
    }

    /* FIXME set baudrate */

    tio.c_cflag = (tio.c_cflag & ~CSIZE) | CS8; /* 8 bit */
    /* disable IGNBRK for mismatched speed tests; otherwise receive break as \000 chars */
    tio.c_iflag &= ~IGNBRK;     /* disable break processing */
    tio.c_lflag = 0;            /* no signaling chars, no echo, no canonical processing */
    tio.c_oflag = 0;            /* no remapping, no delays */

    tio.c_iflag &= ~(IXON | IXOFF | IXANY); /* shut off xon/xoff ctrl */

    tio.c_cflag |= (CLOCAL | CREAD);/* ignore modem controls, enable reading */
    tio.c_cflag &= ~(PARENB | PARODD); /* no parity */
    tio.c_cflag &= ~CSTOPB;
    tio.c_cflag &= ~CRTSCTS;

    tio.c_cflag &= ~(CBAUD | CBAUDEX);
    tio.c_cflag |= BOTHER;
    tio.c_ospeed = baudrate;
    tio.c_cflag &= ~((CBAUD | CBAUDEX) << IBSHIFT);
    tio.c_cflag |= (B0 << IBSHIFT); /* same as output baudrate */

    tio.c_cc[VMIN]  = 0; /* non-blocking mode */
    tio.c_cc[VTIME] = 10; /* 1000ms seconds read timeout */

    if (ioctl (fd, TCSETS2, &tio)) {
        fprintf(stderr, "Could not set serial port attributes: Error %d in tcsetattr (\"%s\")\n", errno, strerror(errno));
        return -1;
    }
    return 0;
}

ssize_t cobs_decode(char *dst, size_t dstlen, char *src, size_t srclen) {
    size_t p = 1;
    size_t c = (unsigned char)src[0];
    if (c == 0)
        return -5; /* invalid framing. An empty frame would be [...] 00 01 00, not [...] 00 00 */

    while (p < srclen && src[p]) {
        char val;
        c--;

        if (c == 0) {
            c = (unsigned char)src[p];
            val = 0;
        } else {
            val = src[p];
        }

        if (p > dstlen)
            return -4; /* Destination buffer too small */
        dst[p-1] = val;
        p++;
    }

    if (p == srclen)
        return -2; /* Invalid framing. The terminating null byte should always be present in the input buffer. */

    if (c != 1)
        return -3; /* Invalid framing. The skip counter does not hit the end of the frame. */

    return p-1;
}

int cobs_encode(char *dst, char *src, size_t srclen) {
    if (srclen > 254)
        return -1;

    size_t p = 0;
    while (p <= srclen) {

        char val;
        if (p != 0 && src[p-1] != 0) {
            val = src[p-1];

        } else {
            size_t q = p;
            while (q < srclen && src[q] != 0)
                q++;
            val = (char)q-p+1;
        }


    *dst++ = val;
        p++;
    }

    *dst++ = 0;

    return 0;
}
 
void print_usage(char *prog) {
    fprintf(stderr, "Usage: %s [-p /dev/serial/some_port] [-b baudrate] dbfile.sqilte3\n", prog);
}

void hexdump(const void* data, size_t size) {
	char ascii[17];
	size_t i, j;
	ascii[16] = '\0';
	for (i = 0; i < size; ++i) {
		printf("%02X ", ((unsigned char*)data)[i]);
		if (((unsigned char*)data)[i] >= ' ' && ((unsigned char*)data)[i] <= '~') {
			ascii[i % 16] = ((unsigned char*)data)[i];
		} else {
			ascii[i % 16] = '.';
		}
		if ((i+1) % 8 == 0 || i+1 == size) {
			printf(" ");
			if ((i+1) % 16 == 0) {
				printf("|  %s \n", ascii);
			} else if (i+1 == size) {
				ascii[(i+1) % 16] = '\0';
				if ((i+1) % 16 <= 8) {
					printf(" ");
				}
				for (j = (i+1) % 16; j < 16; ++j) {
					printf("   ");
				}
				printf("|  %s \n", ascii);
			}
		}
	}
}

int main(int argc, char *argv[]) {
    
    int opt;
    int baudrate = 250000;
    char *endptr = NULL;
    char *port = NULL;
    char *dbfile = NULL;
    while ((opt = getopt(argc, argv, "p:b:")) != -1) {
        switch (opt) {
            case 'p':
                port = optarg;
                break;
            case 'b':
                baudrate = strtol(optarg, &endptr, 10);
                if (errno == ERANGE || endptr == NULL || *endptr != '\0') {
                    fprintf(stderr, "Invalid baudrate \"%s\"\n", optarg);
                    print_usage(argv[0]);
                }
                break;
            default:
                print_usage(argv[0]);
                exit(EXIT_FAILURE);
        }
    }

    if (port == NULL) {
        DIR *le_dir = opendir("/dev/serial/by-id");
        if (le_dir == NULL) {
            fprintf(stderr, "No serial port given and could not find any in /dev/serial\n");
            exit(EXIT_FAILURE);

        }

        struct dirent *de;
        while ((de = readdir(le_dir))) {
            if (de == NULL) {
                fprintf(stderr, "No serial port given and could not find any in /dev/serial\n");
                exit(EXIT_FAILURE);
            }

            if (!strncmp(de->d_name, ".", sizeof(de->d_name)) ||
                !strncmp(de->d_name, "..", sizeof(de->d_name)))
                continue;

            if (port != NULL) {
                fprintf(stderr, "No serial port given and found multiple candidates in /dev/serial\n");
                exit(EXIT_FAILURE);
            }

            const char *prefix = "/dev/serial/by-id/";
            port = malloc(strlen(prefix) + sizeof(de->d_name) + 1);
            if (port == NULL) {
                fprintf(stderr, "Could not allocate memory\n");
                exit(EXIT_FAILURE);
            }
            strcpy(port, prefix);
            strncat(port, de->d_name, sizeof(de->d_name));
        }
        fprintf(stderr, "No port given, defaulting to %s\n", port);
        closedir(le_dir);
    }

    if (optind != argc - 1) {
        fprintf(stderr, "Too few arguments\n");
        print_usage(argv[0]);
        exit(EXIT_FAILURE);
    }

    dbfile = argv[optind];
    printf("Using database file %s\n", dbfile);
    fflush(stdout);

    int fd = open(port, O_RDWR|O_NOCTTY|O_SYNC);
    if (fd < 0) {
        fprintf(stderr, "Cannot open serial port: %s\n", strerror(errno));
        exit(EXIT_FAILURE);
    }

    if (set_interface_attribs (fd, baudrate))
        exit(EXIT_FAILURE);

    sqlite3 *db;
    if (sqlite3_open(dbfile, &db) != SQLITE_OK) {
        fprintf(stderr, "Cannot open database: %s\n", sqlite3_errmsg(db));
        sqlite3_close(db);
        exit(EXIT_FAILURE);
    }

    char *errmsg;
    if (sqlite3_exec(db,
                "CREATE TABLE IF NOT EXISTS measurements (rx_time INTEGER, tx_seq INTEGER, rx_seq INTEGER, data BLOB);",
                NULL, NULL, &errmsg) != SQLITE_OK) {
        fprintf(stderr, "Error initializing databse: %s\n", errmsg);
        sqlite3_close(db);
        exit(EXIT_FAILURE);
    }

    const char *insert_sql = "INSERT INTO measurements VALUES (?, ?, ?, ?)";
    sqlite3_stmt *insert_stmt;
    if (sqlite3_prepare_v2(db, insert_sql, strlen(insert_sql), &insert_stmt, NULL) != SQLITE_OK) {
        fprintf(stderr, "Error compiling SQL: %s\n", sqlite3_errmsg(db));
        sqlite3_close(db);
        exit(EXIT_FAILURE);
    }

    char buf [1024];
    int in_sync = 0, wpos = 0;
    struct __attribute__((__packed__)) {
        uint32_t crc;
        uint8_t pid;
        uint8_t _pad;
        uint16_t seq;
        uint16_t data[32];
    } packet;
    struct __attribute__((__packed__)) {
        uint8_t type;
        uint8_t pid;
    } wpacket;
    char wbuf[4];

    int epollfd = epoll_create1(0);
    if (epollfd < 0)
        goto epoll_err;

    #define MAX_EVENTS 10
    struct epoll_event ev, events[MAX_EVENTS];
    ev.events = EPOLLIN;
    ev.data.fd = fd;
    if (epoll_ctl(epollfd, EPOLL_CTL_ADD, fd, &ev) < 0)
        goto epoll_err;

    wpacket.type = 1;
    wpacket.pid = 0;
    cobs_encode(wbuf, (char *)&wpacket, sizeof(wpacket));
    write(fd, wbuf, sizeof(wbuf));

    /* FIXME begin debug code */
    for (int i=0; i<32; i++) {
        wpacket.type = 2;
        wpacket.pid = packet.pid;
        cobs_encode(wbuf, (char *)&wpacket, sizeof(wpacket));
        write(fd, wbuf, sizeof(wbuf));
        usleep(20);
    }
    /* FIXME end debug code */

    int current_seq = -1;
    uint64_t local_seq = 0;
    while (23) {
        int nfds = epoll_wait(epollfd, events, MAX_EVENTS, -1);
        if (nfds == -1)
            goto epoll_err;

        if (nfds == 0)
            continue;

        ssize_t n = read(fd, buf+wpos, sizeof(buf)-wpos);
        printf("--- read wpos=%d n=%ld\n", wpos, n);
        hexdump(buf+wpos, n);
        if (n<0) {
            if (errno == EAGAIN || errno == EINTR)
                continue;

            fprintf(stderr, "Error reading from port: %s\n", strerror(errno));
            goto loop_err;
        }
        //printf("--- debug: read n=%d bytes at wpos=%d\n", n, wpos);
        //fflush(stdout);
        wpos += n;

        while (23) {
            void *first_nul = memchr(buf, 0, wpos) ;
            ssize_t first_nul_offx = first_nul - (void*)buf;
            ssize_t remaining = wpos - first_nul_offx;

            if (!in_sync) {
                if (first_nul) {
                    memmove(buf, first_nul+1, remaining-1);
                    wpos = remaining-1;
                    in_sync = 1;
                    continue;

                } else {
                    wpos = 0;
                    break;
                }
            }

            if (!first_nul)
                break;

            printf("--- debug: first_nul=%p (idx=%ld) wpos=%d remaining=%ld\n", first_nul, first_nul_offx, wpos, remaining);
            hexdump(buf, 80);

            int rc = cobs_decode((char *)&packet, sizeof(packet), buf, wpos);
            if (rc < 0) {
                printf("Framing error: rc=%d\n", rc);
                goto it_err;
            }
            
            /* Use zlib to calculate CRC32. The STM32 code calculates the CRC byte-wise, so we emulate this here. */
            uint32_t our_crc = 0;
            if (rc > 0) {
                uint8_t buf[4] = {0};
                for (int i=4; i<rc; i++) {
                    buf[3] = ((uint8_t *)&packet)[i];
                    our_crc = crc32(our_crc, buf, sizeof(buf));
                }
            }

            bool error = false;
            /* Check CRC */
            if (our_crc != packet.crc) {
                printf("CRC mismatch: seq=%d packet=%08x computed=%08x\n", packet.pid, packet.crc, our_crc);
                error = true;
            }

            /* Check device sequence number */
            int last_seq = current_seq;
            int predicted_seq = (last_seq+1) % 0xffff;
            if (!error)
                current_seq = packet.seq;
            if (last_seq >= 0 && packet.seq != predicted_seq) {
                printf("SEQ mismatch: packet=%d computed=%d\n", packet.seq, predicted_seq);
                error = true;
            }

            if (error)
                goto it_err;

            /* Write to database */
            struct timespec ts;
            if (clock_gettime(CLOCK_REALTIME, &ts)) {
                fprintf(stderr, "Error getting current wall-clock time: %s\n", strerror(errno));
                goto loop_err;
            }
            uint64_t timestamp = ts.tv_sec*1000 + ts.tv_nsec/1000000;

            if (sqlite3_bind_int(insert_stmt, 1, timestamp) != SQLITE_OK)
                goto write_err;
            
            if (sqlite3_bind_int(insert_stmt, 2, packet.seq) != SQLITE_OK)
                goto write_err;

            if (sqlite3_bind_int(insert_stmt, 3, local_seq) != SQLITE_OK)
                goto write_err;

            if (sqlite3_bind_blob(insert_stmt, 4, packet.data, sizeof(packet.data), SQLITE_STATIC) != SQLITE_OK)
                goto write_err;

            while ((rc = sqlite3_step(insert_stmt)) == SQLITE_BUSY)
                ;
            if (rc != SQLITE_DONE)
                goto write_err;

            if (sqlite3_reset(insert_stmt) != SQLITE_OK)
                goto write_err;

            if (sqlite3_clear_bindings(insert_stmt) != SQLITE_OK)
                goto write_err;

            local_seq++;

            printf("OK: seq=%d crc=%08x\n", current_seq, packet.crc);

            /* send ACK reply */
            wpacket.type = 2;
            wpacket.pid = packet.pid;
            cobs_encode(wbuf, (char *)&wpacket, sizeof(wpacket));
            write(fd, wbuf, sizeof(wbuf));

it_err:
            /* Fixup buffer for next iteration */
            if (remaining-1 > 0) {
                printf(" ---memmove(buf=%p, first_nul+1=%p, remaining-1=%ld);-->\n", buf, first_nul+1, remaining-1);
                memmove(buf, first_nul+1, remaining-1);
            }
            //hexdump(buf, 80);
            fflush(stdout);
            printf("--- continuing wpos=%d->%d\n", wpos, (int)(remaining-1));
            wpos = remaining-1;
        }
    }

    return 0;

write_err:
    fprintf(stderr, "Error writing to database: %s\n", sqlite3_errmsg(db));
    sqlite3_close(db);
    return EXIT_FAILURE;

epoll_err:
    fprintf(stderr, "epoll error: %s\n", strerror(errno));

loop_err:
    sqlite3_close(db);
    return EXIT_FAILURE;
}